AttitudeControlTest: add first controller convergence test #13102
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
bresch
requested changes
Oct 10, 2019
src/modules/mc_att_control/AttitudeControl/AttitudeControlTest.cpp
Outdated
Show resolved
Hide resolved
src/modules/mc_att_control/AttitudeControl/AttitudeControlTest.cpp
Outdated
Show resolved
Hide resolved
src/modules/mc_att_control/AttitudeControl/AttitudeControlTest.cpp
Outdated
Show resolved
Hide resolved
Which revealed antipodal quaternion corner cases when the first element is zero.
MaEtUgR
force-pushed
the
attitude-test
branch
from
6e09939 to
24d6e4e
Compare
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Describe problem solved by the proposed pull request
Since #11573 we have convenient unit test support in the Firmware and the attitude controller actually had the first example test. But the test was not covering interesting cases so far.
Test data / coverage
Unit tests pass.
Describe your preferred solution
The test now runs the
AttitudeControlclass against all sorts of start and setpoint attitude combinations and checks if the error constantly gets smaller and converges to the setpoint.